diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 12b146e80b..1c8e9f76b1 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -185,7 +185,7 @@ class Controls(ControlsExt):
       hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
       hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
 
-    if self.sm['selfdriveState'].active:
+    if self.get_lat_active(self.sm):
       CO = self.sm['carOutput']
       if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
         self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \